/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file           : main.c
 * @brief          : Main program body
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2025 STMicroelectronics.
 * All rights reserved.
 *
 * This software is licensed under terms that can be found in the LICENSE file
 * in the root directory of this software component.
 * If no LICENSE file comes with this software, it is provided AS-IS.
 *
 ******************************************************************************
 */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "dma.h"
#include "i2c.h"
#include "spi.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "hmc5883.h"
#include "icm45686.h"
#include "bmp280.h"
#include "simI2c.h"
#include "delay.h"
#include "flash_util.h"
#include "mag_calib.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
 * @brief  The application entry point.
 * @retval int
 */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_I2C1_Init();
  MX_SPI1_Init();
  MX_USART1_UART_Init();
  MX_USART2_UART_Init();
  MX_USART3_UART_Init();
  /* USER CODE BEGIN 2 */
  DWT_Delay_Init();
  HMC5883_Init();                      // 初始化HMC5883L传感�???
  ICM45686_Init();                     // 初始化ICM45686传感�???
  BMP280_Init();                       // 初始化BMP280传感�???
  MagCalib_Init();                     // 初始化磁力计校准
  MagCalib_LoadFromFlash();           // 从Flash加载磁力计校准数据
  int MagData[3];                      // 用于存储传感器数�?
  int16_t accel_data[6];               // 用于存储加速度计数据
  int16_t gyro_data[6];                // 用于存储陀螺
  MagRaw_t MagRawData;                 // 用于存储原始磁力计数据
  MagCalib_t MagCalibOutput;           // 用于存储校准后的
  uint32_t start_time = HAL_GetTick(); // 获取程序开始时间
  int saveflag = 0;

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    while ((HAL_GetTick() - start_time < 10000))//校准30s
    {
      HMC5883_ReadData(MagData);       // 读取HMC5883L数据
      Mag_trans(MagData, &MagRawData); // 将原始数据转换为MagRaw_t结构体
      MagCalib_Update(&MagRawData);    // 更新磁力计校准数据
		printf("magdataoutput");
    }
	if(saveflag == 0)
	{
	  MagCalib_SaveToFlash(); // 保存校准数据到Flash
		saveflag = 1;
	}

    ICM45686_decodedata(accel_data, gyro_data); // 读取ICM45686加速度计和陀螺仪数据
    SendDataToUart(accel_data, gyro_data);      // 发送数据到串口
    BMP280_Read_Pressure();                     // 读取BMP280压力数据
    HMC5883_ReadData(MagData);                  // 读取HMC5883L数据
    Mag_trans(MagData, &MagRawData);            // 将原始数据转换为MagRaw_t结构体
    MagCalib_Get(&MagRawData, &MagCalibOutput); // 获取校准后的数据
    PrintMagCalib(&MagCalibOutput);              // 打印校准后的磁力计数据
    PrintMagRaw(&MagRawData);                    // 打印原始磁力计数据
    HAL_Delay(1000); // 延时100毫秒
    /* USER CODE END WHILE */
 
    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
 * @brief System Clock Configuration
 * @retval None
 */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
   * in the RCC_OscInitTypeDef structure.
   */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
   */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
 * @brief  This function is executed in case of error occurrence.
 * @retval None
 */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef USE_FULL_ASSERT
/**
 * @brief  Reports the name of the source file and the source line number
 *         where the assert_param error has occurred.
 * @param  file: pointer to the source file name
 * @param  line: assert_param error line source number
 * @retval None
 */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
